Novel Dynamic Path Planning Algorithm for localization of wireless nodes in multi-UAV scenario using implicit signaling in DTN
- Kind of work:
- Master thesis
M.Sc. Mehdi Harounabadi
M. Sc. Alina Rubina
- In unknown environments, dynamic trajectory planning for a UAV represents an effective solution for localizing wireless nodes. The UAV must localize wireless nodes accurately and efficiently without wasting resources.
However, employing a single UAV for localization in vast areas causes long latency and may not be feasible. To overcome these problems, multiple UAVs can be applied in the network.
In this case, cooperation between UAVs is required to avoid redundant visits of already localized nodes. Also, covering the same area by different UAVs will waste time and time is the most crucial parameter in disaster scenarios.
As UAVs may not be always connected to exchange information about their planned trajectory and localized nodes, one possible solution will be employing a signaling of control information among UAVs.
There are two types of signaling. In the first case an explicit signaling is used, where a UAV exchanges the control information whenever it encounters another UAV. However, in the vast networks this cannot be applicable as UAVs have short communication range.
The other feasible solution is implicit signaling through wireless nodes. This can also be called delay tolerant signaling. To implement this, a list of localized nodes is stored in the network among localized nodes.
Wireless nodes act as relay nodes to exchange signaling information among UAVs (indirect signaling of UAVs).
By indirect signaling of UAVs through nodes, the redundancy in time, covered area and number of localized nodes can be decreased significantly. It can improve the latency of localization and decrease the traveled distance of UAVs.
Tasks of the student:
1- Literature review about existing work in static and dynamic UAV trajectory planning for localization and delay tolerant networks routing
2- Developing a cooperative multi-UAV dynamic trajectory planning approach for localization of wireless nodes employing indirect signaling among UAVs
a. Modeling the problem
b. Proposing a solution for the modeled problem
3-Implementation and evaluation of the proposed algorithm comparing two scenarios: no signaling and indirect signaling